CN206317082U - Stacking machine arm active terminal detent mechanism - Google Patents
Stacking machine arm active terminal detent mechanism Download PDFInfo
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- CN206317082U CN206317082U CN201621031734.7U CN201621031734U CN206317082U CN 206317082 U CN206317082 U CN 206317082U CN 201621031734 U CN201621031734 U CN 201621031734U CN 206317082 U CN206317082 U CN 206317082U
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- arm
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- range measurement
- measurement mechanism
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Abstract
The utility model discloses a kind of stacking machine arm active terminal detent mechanism, including the location-plate that sets of frame, the arm being hinged by the first jointed shaft and frame, the range measurement mechanism for being horizontally set on arm bottom, respective distances measuring mechanism and the level-ling mechanism for keeping measuring mechanism level；Peak and the difference of the height of minimum point that the height of location-plate is moved not less than arm bottom；Or, location-plate includes 1/2 upper location-plate set of respective distances measuring mechanism range of upward movement and the 1/2 lower location-plate set of respective distances measuring mechanism downward range of motion.The utility model is by being arranged on the range measurement mechanism direct measurement arm current location of arm lower end, it is to avoid measurement error caused by mechanical clearance, material deformation and manufacture alignment error etc. and the error caused due to the rounding-off in calculating process.
Description
Technical field
The utility model is related to a kind of stacking machine arm active terminal detent mechanism.
Background technology
The main position that manipulator active terminal is obtained by measuring indirectly of detection of current palletizing mechanical arm, for example, survey
Amount driving leading screw displacement, or manipulator arm joint angle, then by calculate, draw manipulator active terminal work as
Front position.The terminal location that such detection method is obtained, due to by mechanical clearance, material deformation and manufacture alignment error etc.
There is certain deviation between the influence of factor, and the position of reality.In order to obtain more accurate manipulator active terminal position
Data using mode measured directly, it is necessary to carry out position detection.Use to enter around joint during due to robot movement
Capable rotary motion, the detection of horizontal displacement lacks stable reference point, and the means directly detected are relatively fewer.
Utility model content
Regarding to the issue above, the utility model provides a kind of stacking machine arm for being capable of direct measurement stacking machine boom position
Active terminal detent mechanism.
To reach above-mentioned purpose, the utility model stacking machine arm active terminal detent mechanism, including frame, pass through first
Jointed shaft and the arm that the frame is hinged, the range measurement mechanism for being horizontally set on the arm bottom, the corresponding distance
The location-plate that measuring mechanism is set and the level-ling mechanism for keeping the measuring mechanism level；
Peak and the difference of the height of minimum point that the height of the location-plate is moved not less than the arm bottom；Work as institute
When stating arm bottom and moving to peak, the top of the range measurement mechanism correspondence location-plate, when the arm bottom
When moving to minimum point, the bottom of the range measurement mechanism correspondence location-plate；Or,
The location-plate include correspondence range measurement mechanism range of upward movement rear 1/2 upper location-plate set and
The rear 1/2 lower location-plate set of correspondence range measurement mechanism downward range of motion.
Further, the range measurement mechanism includes shading protecting box and the laser ranging being arranged in shading protecting box
Sensor, the location-plate is reflecting plate.
Further, the range measurement mechanism and the bottom of the arm are hinged by the second jointed shaft；The level
Maintaining body includes the connecting rod set with the diameter parallel of the arm, and the connecting rod upper end passes through the 3rd jointed shaft and institute
State frame to be hinged, the end of the connecting rod is hinged by the 4th jointed shaft with the range measurement mechanism；
Plane determined by the axis of first and third jointed shaft is parallel with plane where the connecting plate.
Specifically, the axis institute of plane and second, four jointed shafts determined by the axis of first and third jointed shaft is true
Fixed plane is horizontal plane.
Further, the range measurement mechanism is hinged by the bottom of the second jointed shaft and the arm；
The level-ling mechanism includes the connecting rod that 2n+1 roots head and the tail are hinged successively, wherein, the 1st connecting rod from top to bottom
Top be hinged with the frame by the 3rd jointed shaft, 2n+1 roots connecting rod from top to bottom passes through the 4th with the connecting plate
Jointed shaft is hinged；2m roots connecting rod from top to bottom is hinged with the arm, and 2m+1 roots connecting rod from top to bottom is hung with described
Arm is parallel；Wherein, the n is positive integer, and the m is the positive integer less than or equal to n；
Plane that plane that the axis of first and third jointed shaft is determined, the axis of second, four jointed shafts are determined and the
The axis of 2m root connecting rods is parallel to each other.
Further, plane determined by first and third jointed shaft, plane determined by second, four jointed shafts are water
Plane, the axis for each connecting rod being hinged with the arm is horizontal line.
The utility model stacking machine arm active terminal detent mechanism is by being arranged on the distance-measuring device of arm bottom
Arm movement position is measured, the position of direct measurement arm, it is not necessary to by calculate, so, can either avoid due to
Measurement error caused by mechanical clearance, material deformation and manufacture alignment error etc., additionally it is possible to avoid due to the house in calculating process
Enter the error caused, can accurately obtain the movement position of arm.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model stacking machine arm active terminal detent mechanism；
Fig. 2 is the structural representation of the level-ling mechanism of the utility model stacking machine arm active terminal detent mechanism.
Embodiment
The utility model is further described with reference to Figure of description.
Embodiment 1
As shown in Figure 1-2, the stacking machine arm active terminal detent mechanism of the present embodiment, including frame 1, pass through first hinge
Spindle 201 with arm that the frame 1 is hinged, be horizontally set on the arm bottom range measurement mechanism, it is corresponding it is described away from
The location-plate 215 set from measuring mechanism and the level-ling mechanism for keeping the measuring mechanism level；
Peak and the difference of the height of minimum point that the height of the location-plate 215 is moved not less than the arm bottom；
When the arm bottom moves to peak, the top of the range measurement mechanism correspondence location-plate 215 is hung when described
When arm bottom moves to minimum point, the bottom of the range measurement mechanism correspondence location-plate 215.
The range measurement mechanism includes shading protecting box 213 and the laser ranging being arranged in shading protecting box 213 is passed
Sensor 214, the location-plate 215 is reflecting plate.
The present embodiment realizes arm rotary motion and level is flat by setting level-ling mechanism for range measurement mechanism
Conversion between dynamic motion；By the non-contact measurement of laser range sensor 214, the position on mechanical arm upright position is eliminated
Move influence；By such measure, the direct measurement of manipulator active terminal single dimension displacement in rectangular coordinate system is realized.
The present invention is thoroughly eliminated by two components being decomposed into the movement locus of manipulator active terminal on vertically and horizontally
Mechanical clearance, material deformation and manufacture alignment error give the error for indirectly measuring and bringing, and improve measurement accuracy.Shading is protected
Box 213 is fixed on mechanical parallel moving mechanism, for shielding influence of the external light source to sensor, and for sensor provide support and
Physical protection.
The present embodiment can also be configured in the following way：The location-plate 215 is included into the correspondence distance to survey
Rear 1/2 upper location-plate 215 set and correspondence range measurement mechanism downward range of motion of measuring mechanism range of upward movement
It is rear 1/2 set lower location-plate 215.
Embodiment 2
On the basis of above-described embodiment, the range measurement mechanism and the bottom of the arm pass through the second jointed shaft
202 are hinged；The level-ling mechanism includes the connecting rod set with the diameter parallel of the arm, and the connecting rod upper end leads to
Cross the 3rd jointed shaft 203 to be hinged with the frame 1, the end of the connecting rod passes through the 4th jointed shaft 204 and the range measurement
Mechanism is hinged；
Plane determined by the axis of first and third jointed shaft is parallel with plane where the connecting plate.
The present embodiment by using parallel―ordinal shift structure adjust the distance measuring mechanism carry out horizontality holding, so,
The connected mode of single link can avoid the accumulation of driving error, ensure that the accuracy of the horizontality of connecting plate.
Embodiment 3
On the basis of above-described embodiment, the bottom that the range measurement mechanism passes through the second jointed shaft 202 and the arm
End is hinged；
The level-ling mechanism includes the connecting rod that 2n+1 roots head and the tail are hinged successively, wherein, the 1st connecting rod from top to bottom
205 top is hinged with the frame 1 by the 3rd jointed shaft 203,2n+1 roots connecting rod 207 from top to bottom and the connection
Plate is hinged by the 4th jointed shaft 204；2m roots connecting rod 206 from top to bottom is hinged with the arm, 2m+ from top to bottom
1 connecting rod is parallel with the arm；Wherein, the n is positive integer, and the m is the positive integer less than or equal to n；
Plane that plane that the axis of first and third jointed shaft is determined, the axis of second, four jointed shafts are determined and the
The axis of 2m roots connecting rod 206 is parallel to each other.
Plane determined by first and third jointed shaft, plane determined by second, four jointed shafts are horizontal plane, with institute
The axis for stating each connecting rod that arm is hinged is horizontal line.
The range measurement mechanism of the present embodiment keeps level by some parallel four-bar linkages, in such manner, it is possible to according to need
The length of selection connecting rod is sought, the diameter of connecting rod and length are selected into suitable ratio, the situation of strut buckling can be avoided the occurrence of,
Avoid the damage to other equipment.
More than, preferred embodiment only of the present utility model, but protection domain of the present utility model is not limited thereto, and appoints
What those familiar with the art the change that can readily occur in or replaces in the technical scope that the utility model is disclosed
Change, should all cover within protection domain of the present utility model.Therefore, protection domain of the present utility model should be with claim
The protection domain defined is defined.
Claims (3)
1. a kind of stacking machine arm active terminal detent mechanism, it is characterised in that：Including frame, by the first jointed shaft with it is described
Arm that frame is hinged, the range measurement mechanism for being horizontally set on the arm bottom, the correspondence range measurement mechanism are set
Location-plate and level-ling mechanism for keeping the measuring mechanism level；
Peak and the difference of the height of minimum point that the height of the location-plate is moved not less than the arm bottom；Hung when described
When arm bottom moves to peak, the top of the range measurement mechanism correspondence location-plate, when arm bottom motion
During to minimum point, the bottom of the range measurement mechanism correspondence location-plate；Or,
The location-plate includes rear 1/2 upper location-plate set and correspondingly of correspondence range measurement mechanism range of upward movement
The rear 1/2 lower location-plate set of range measurement mechanism downward range of motion；
The range measurement mechanism and the bottom of the arm are hinged by the second jointed shaft；The level-ling mechanism include with
The connecting rod that the diameter parallel of the arm is set, the connecting rod upper end is hinged by the 3rd jointed shaft and the frame, institute
The end for stating connecting rod is hinged by the 4th jointed shaft with the range measurement mechanism；
Plane determined by the axis of first and third jointed shaft is parallel with plane where connecting plate.
2. stacking machine arm active terminal detent mechanism as claimed in claim 1, it is characterised in that：Range measurement mechanism bag
Shading protecting box and the laser range sensor being arranged in shading protecting box are included, the location-plate is reflecting plate.
3. stacking machine arm active terminal detent mechanism as claimed in claim 1, it is characterised in that：First and third jointed shaft
Axis determined by plane and second, four jointed shafts axis determined by plane be horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621031734.7U CN206317082U (en) | 2016-08-31 | 2016-08-31 | Stacking machine arm active terminal detent mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621031734.7U CN206317082U (en) | 2016-08-31 | 2016-08-31 | Stacking machine arm active terminal detent mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206317082U true CN206317082U (en) | 2017-07-11 |
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ID=59263331
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621031734.7U Active CN206317082U (en) | 2016-08-31 | 2016-08-31 | Stacking machine arm active terminal detent mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206317082U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108107439A (en) * | 2017-11-30 | 2018-06-01 | 上海华力微电子有限公司 | Etching machines vacuum transmission intracavitary mechanical arm position measures method and device |
-
2016
- 2016-08-31 CN CN201621031734.7U patent/CN206317082U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108107439A (en) * | 2017-11-30 | 2018-06-01 | 上海华力微电子有限公司 | Etching machines vacuum transmission intracavitary mechanical arm position measures method and device |
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